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Localization in cha...
Localization in changing environments by matching laser range scans
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- Bengtsson, Ola (författare)
- Högskolan i Halmstad,Halmstad Embedded and Intelligent Systems Research (EIS)
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- Baerveldt, Albert-Jan, 1963- (författare)
- Högskolan i Halmstad,Halmstad Embedded and Intelligent Systems Research (EIS)
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 1999
- 1999
- Engelska.
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Ingår i: 1999 Third European Workshop on Advanced Mobile Robots (Eurobot'99).. - : Institute of Electrical and Electronics Engineers (IEEE). - 0780356721 ; , s. 169-176
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
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- We present a novel scan matching algorithm, IDC-S, Iterative Dual Correspondence-Sector, that matches range scans. The algorithm is based on the known Iterative Dual Correspondence, IDC, algorithm which has shown good performance in real environments. The improvement is that IDC-S is able to deal with relatively large changes in the environment. It divides the scan in several sectors, detects and removes those sectors that are changed and matches the scans only using unchanged sectors. IDC-S and other variants of IDC are extensively simulated and evaluated. The simulations show that IDC-S is very robust and can locate in many different kind of environments. We also show that it is possible to effectively combine the existing IDC algorithms with IDC-S, thus obtaining an algorithm that performs very well both in rectilinear as well as nonrectilinear environments, even when changed as much as 65%. © 1999 IEEE.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Nyckelord
- Changing environment
- Laser range scan
- Range scans
- Real environments
- Scan matching
- Iterative methods
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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